// 乐动雷达
#include "lidar06.h"

LD06ClassStruct LD06Class = {
    .init = LD06_init,
};

#define MyUARTx     UART_NUM_2
#define TXD_PIN     GPIO_NUM_23
#define RXD_PIN     GPIO_NUM_18

#define ANGLE_PER_FRAME     12
#define HEADER              0x54
#define POINT_PER_PACK      12
#define LENGTH              0x2C 	//低五位是一帧数据接收到的点数，目前固定是12，高三位预留

static const int RX_BUF_SIZE = 200;
static char* TAG = "LD06";

static const uint8_t CrcTable[256] =
{
 0x00, 0x4d, 0x9a, 0xd7, 0x79, 0x34, 0xe3,
 0xae, 0xf2, 0xbf, 0x68, 0x25, 0x8b, 0xc6, 0x11, 0x5c, 0xa9, 0xe4, 0x33,
 0x7e, 0xd0, 0x9d, 0x4a, 0x07, 0x5b, 0x16, 0xc1, 0x8c, 0x22, 0x6f, 0xb8,
 0xf5, 0x1f, 0x52, 0x85, 0xc8, 0x66, 0x2b, 0xfc, 0xb1, 0xed, 0xa0, 0x77,
 0x3a, 0x94, 0xd9, 0x0e, 0x43, 0xb6, 0xfb, 0x2c, 0x61, 0xcf, 0x82, 0x55,
 0x18, 0x44, 0x09, 0xde, 0x93, 0x3d, 0x70, 0xa7, 0xea, 0x3e, 0x73, 0xa4,
 0xe9, 0x47, 0x0a, 0xdd, 0x90, 0xcc, 0x81, 0x56, 0x1b, 0xb5, 0xf8, 0x2f,
 0x62, 0x97, 0xda, 0x0d, 0x40, 0xee, 0xa3, 0x74, 0x39, 0x65, 0x28, 0xff,
 0xb2, 0x1c, 0x51, 0x86, 0xcb, 0x21, 0x6c, 0xbb, 0xf6, 0x58, 0x15, 0xc2,
 0x8f, 0xd3, 0x9e, 0x49, 0x04, 0xaa, 0xe7, 0x30, 0x7d, 0x88, 0xc5, 0x12,
 0x5f, 0xf1, 0xbc, 0x6b, 0x26, 0x7a, 0x37, 0xe0, 0xad, 0x03, 0x4e, 0x99,
 0xd4, 0x7c, 0x31, 0xe6, 0xab, 0x05, 0x48, 0x9f, 0xd2, 0x8e, 0xc3, 0x14,
 0x59, 0xf7, 0xba, 0x6d, 0x20, 0xd5, 0x98, 0x4f, 0x02, 0xac, 0xe1, 0x36,
 0x7b, 0x27, 0x6a, 0xbd, 0xf0, 0x5e, 0x13, 0xc4, 0x89, 0x63, 0x2e, 0xf9,
 0xb4, 0x1a, 0x57, 0x80, 0xcd, 0x91, 0xdc, 0x0b, 0x46, 0xe8, 0xa5, 0x72,
 0x3f, 0xca, 0x87, 0x50, 0x1d, 0xb3, 0xfe, 0x29, 0x64, 0x38, 0x75, 0xa2,
 0xef, 0x41, 0x0c, 0xdb, 0x96, 0x42, 0x0f, 0xd8, 0x95, 0x3b, 0x76, 0xa1,
 0xec, 0xb0, 0xfd, 0x2a, 0x67, 0xc9, 0x84, 0x53, 0x1e, 0xeb, 0xa6, 0x71,
 0x3c, 0x92, 0xdf, 0x08, 0x45, 0x19, 0x54, 0x83, 0xce, 0x60, 0x2d, 0xfa,
 0xb7, 0x5d, 0x10, 0xc7, 0x8a, 0x24, 0x69, 0xbe, 0xf3, 0xaf, 0xe2, 0x35,
 0x78, 0xd6, 0x9b, 0x4c, 0x01, 0xf4, 0xb9, 0x6e, 0x23, 0x8d, 0xc0, 0x17,
 0x5a, 0x06, 0x4b, 0x9c, 0xd1, 0x7f, 0x32, 0xe5, 0xa8
};//用于crc校验的数组

static void LD06_run_task(void *pvParameters)
{
    uint8_t* data = (uint8_t*) malloc(RX_BUF_SIZE+1);
    uint8_t crc = 0;
    uint8_t index = 255;
    uint8_t SD_Data[1024] = {0x00};

    while(1) 
    {
        const int rxBytes = uart_read_bytes(MyUARTx, data, RX_BUF_SIZE, 1000 / portTICK_PERIOD_MS);
        if(rxBytes > 0) 
        {
            data[rxBytes] = 0;
            // for(uint8_t ii = 0; ii < RX_BUF_SIZE; ii++) printf("%d:%02x, ",ii,data[ii]);
            // printf("...\n");
            for(uint8_t ii = 0; ii < RX_BUF_SIZE; ii++)
            {
                if(data[ii] == HEADER) 
                {
                    if(ii > RX_BUF_SIZE - 50) {
                        // printf("find data index overflow\n");
                        break;
                    }
                    if(data[ii+1] == LENGTH) {
                        index = ii;
                        // printf("find data\n");
                        break;
                    }
                }
            }
            if(index != 255)
            {
                for(uint8_t i = 0; i < 46; i++)
                {
                    crc = CrcTable[(crc ^ data[index + i]) & 0xFF];
                }
                if(crc == data[index+46])
                {
                    LD06Class.LD_Data.speed = (data[index+3] << 8) | data[index+2];
                    LD06Class.LD_Data.start_angle = (data[index+5] << 8) | data[index+4];
                    for(uint8_t j = 0; j < POINT_PER_PACK; j++)
                    {
                        LD06Class.LD_Data.point[j].distance = (uint16_t)(data[index+7 + j * 3] << 8) | data[index+6 + j * 3];
                        LD06Class.LD_Data.point[j].confidence = data[index+8 + j * 3];
                    }
                    LD06Class.LD_Data.end_angle = (data[index+43] << 8) | data[index+42];
                    LD06Class.LD_Data.timestamp = (data[index+45] << 8) | data[index+44];
                    index = 255;
                    printf("speed: %ddeg/s, startA: %ddeg, endA: %ddeg\n", LD06Class.LD_Data.speed, LD06Class.LD_Data.start_angle / 100, LD06Class.LD_Data.end_angle / 100);
                }
                else {
                    // printf("crc error\n");
                }
            }
            else {
                // printf("not find data\n");
            }
        }
    }
    free(data);
}

void LD06_init(void) 
{
    const uart_config_t uart_config = {
        .baud_rate = 230400,
        .data_bits = UART_DATA_8_BITS,
        .parity = UART_PARITY_DISABLE,
        .stop_bits = UART_STOP_BITS_1,
        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
        .source_clk = UART_SCLK_APB,
    };
    // We won't use a buffer for sending data.
    uart_driver_install(MyUARTx, RX_BUF_SIZE * 2, 0, 0, NULL, 0);
    uart_param_config(MyUARTx, &uart_config);
    uart_set_pin(MyUARTx, TXD_PIN, RXD_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);

    ESP_LOGI(TAG, "LD06 init complate");

    xTaskCreate(LD06_run_task, "LD06_run_task", 2048, NULL, 0, NULL);
}